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<div class="title">stuggihop.hpp</div>  </div>
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<a href="stuggihop_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef STUGGIHOP_H</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define STUGGIHOP_H</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common__header_8hpp.html">blmc_robots/common_header.hpp</a>&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="blmc__joint__module_8hpp.html">blmc_robots/blmc_joint_module.hpp</a>&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="slider_8hpp.html">blmc_robots/slider.hpp</a>&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceblmc__robots.html">blmc_robots</a>{</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html">   19</a></span>&#160;<span class="keyword">class </span><a class="code" href="classblmc__robots_1_1Stuggihop.html">Stuggihop</a></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;{</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <span class="keyword">typedef</span> Eigen::Matrix&lt;double, 1, 1&gt; Vector1d;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <a class="code" href="classblmc__robots_1_1Stuggihop.html#aea7781a2eb5a410ca8ab2bbfe425cb6a">Stuggihop</a>();</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Stuggihop.html#a2a272c1cb428a2a7250b23d7ca40c894">initialize</a>();</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Stuggihop.html#ab3c118885810575b36c49432a2a5eca5">send_target_motor_current</a>(</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; target_motor_current);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Stuggihop.html#ac8bae7764c409c8312408ea8adb1165f">send_target_joint_torque</a>(</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; target_joint_torque);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Stuggihop.html#a594cb654f63c3ff8fb7718ce7d393d81">acquire_sensors</a>();</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Stuggihop.html#a5f0707d8965fc98b36ca3fa42b57db5f">set_hardstop2zero_offsets</a>(</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; hardstop2zero_offsets);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Stuggihop.html#afb35c29fd6e5eb97337857fd34532a6d">set_start2hardstop_offsets</a>(</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; start2hardstop_offsets);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a8d9d32080e9262b319f4f4ce7d85bac1">   75</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a8d9d32080e9262b319f4f4ce7d85bac1">get_motor_positions</a>()</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  {</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">return</span> motor_positions_;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  }</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#accb7420eaa50dafb84c434623697a272">   87</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#accb7420eaa50dafb84c434623697a272">get_motor_velocities</a>()</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  {</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">return</span> motor_velocities_;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a6da6fdecb11573e52a0c059d84e7f4c5">   99</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a6da6fdecb11573e52a0c059d84e7f4c5">get_motor_currents</a>()</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  {</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordflow">return</span> motor_currents_;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a8caaf3092fab4df7cb4a21c785a92caa">  111</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a8caaf3092fab4df7cb4a21c785a92caa">get_motor_target_currents</a>()</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  {</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordflow">return</span> motor_target_currents_;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  }</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#aa3c24185a4ce67f235c535e4913832d2">  123</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#aa3c24185a4ce67f235c535e4913832d2">get_motor_torques</a>()</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  {</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keywordflow">return</span> motor_torques_;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  }</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#aa37d49ec5e4fb52bac480aa552fc4546">  132</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#aa37d49ec5e4fb52bac480aa552fc4546">get_target_motor_torques</a>()</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  {</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keywordflow">return</span> motor_target_torques_;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  }</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#acffc9bf97d4b58ad49703855a70b95cf">  141</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#acffc9bf97d4b58ad49703855a70b95cf">get_motor_inertias</a>()</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  {</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordflow">return</span> motor_inertias_;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  }</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a41fda0b6e5b070341e342291c1d0fd1d">  153</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a41fda0b6e5b070341e342291c1d0fd1d">get_motor_encoder_indexes</a>()</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  {</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordflow">return</span> motor_encoder_indexes_;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  }</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a4c0847fc848bab2d1ad7f76542fffb3c">  162</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a4c0847fc848bab2d1ad7f76542fffb3c">get_motor_torque_constants</a>()</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  {</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordflow">return</span> motor_torque_constants_;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  }</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a776d704e7fd109da3095d4da03fcf12b">  174</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a776d704e7fd109da3095d4da03fcf12b">get_joint_positions</a>()</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  {</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordflow">return</span> joint_positions_;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  }</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#ad06f6d6a3cb3f85848fce1178bc60dd1">  186</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#ad06f6d6a3cb3f85848fce1178bc60dd1">get_joint_velocities</a>()</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  {</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keywordflow">return</span> joint_velocities_;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  }</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a977ef0340cc0cbf164f9ba492736ca18">  198</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a977ef0340cc0cbf164f9ba492736ca18">get_joint_torques</a>()</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  {</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordflow">return</span> joint_torques_;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  }</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a2cad739e379d40ac6ccc50091ed3d456">  207</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a2cad739e379d40ac6ccc50091ed3d456">get_joint_target_torques</a>()</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  {</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keywordflow">return</span> joint_target_torques_;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  }</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div><div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#ae693c1a57f25426d82cece8d5066d331">  216</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#ae693c1a57f25426d82cece8d5066d331">get_joint_gear_ratios</a>()</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  {</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="keywordflow">return</span> joint_gear_ratios_;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  }</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#afc0dfd7c91f9a83126ed6644ae29ed20">  228</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#afc0dfd7c91f9a83126ed6644ae29ed20">get_joint_encoder_index</a>()</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  {</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keywordflow">return</span> joint_encoder_index_;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  }</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div><div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a0669e1c16bd6698966149cebad9c43fc">  237</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a0669e1c16bd6698966149cebad9c43fc">get_hardstop2zero_offsets</a>()</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  {</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordflow">return</span> joint_hardstop2zero_offsets_;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  }</div><div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a206157411d7bd41d5d599106512482ae">  245</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a206157411d7bd41d5d599106512482ae">get_start2hardstop_offsets_</a>()</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  {</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;    <span class="keywordflow">return</span> joint_start2hardstop_offsets_;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  }</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="comment">// const Eigen::Ref&lt;Vector1d&gt; get_slider_positions()</span></div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="comment">// {</span></div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="comment">//   return slider_positions_;</span></div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="comment">// }</span></div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <span class="comment">// const Eigen::Ref&lt;Vector1d&gt; get_contact_sensors_states()</span></div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="comment">// {</span></div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="comment">//   return contact_sensors_states_;</span></div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <span class="comment">// }</span></div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="comment">// const Eigen::Ref&lt;Vector1d&gt; get_height_sensors()</span></div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="comment">// {</span></div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <span class="comment">//   return height_sensors_states_;</span></div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="comment">// }</span></div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;</div><div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a6da73065d935420daf4959b8f912128c">  292</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a6da73065d935420daf4959b8f912128c">get_base_positions</a>(){</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keywordflow">return</span> base_positions_;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  }</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;</div><div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a7f869117918d0d5d5813d29222430d88">  302</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a7f869117918d0d5d5813d29222430d88">get_base_velocities</a>(){</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    <span class="keywordflow">return</span> base_velocities_;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  }</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;</div><div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a5a68ae4700c53672c30d373cc3b5b66c">  311</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a5a68ae4700c53672c30d373cc3b5b66c">get_max_current</a>()</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  {</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="keywordflow">return</span> motor_max_current_;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  }</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;</div><div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a4d0344d8fa31e2e959dfcb3c3f5538e9">  321</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Stuggihop.html#a4d0344d8fa31e2e959dfcb3c3f5538e9">get_max_joint_torque</a>()</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  {</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="keywordflow">return</span> joint_max_torque_;</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  }</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;</div><div class="line"><a name="l00331"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Stuggihop.html#a8be641fdc498b04a52bb721f14c449c3">  331</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Stuggihop.html#a8be641fdc498b04a52bb721f14c449c3">set_max_current</a>(<span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; max_current)</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  {</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    motor_max_current_ = max_current;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> i=0 ; i&lt;motors_.size() ; ++i)</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    {</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      motors_[i]-&gt;set_max_current(motor_max_current_(i));</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    }</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    joint_max_torque_ = motor_max_current_.array() *</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;                        motor_torque_constants_.array() *</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;                        joint_gear_ratios_.array();</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  }</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> motor_positions_;</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> motor_velocities_;</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> motor_currents_;</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> motor_torques_;</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> motor_inertias_;</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> motor_encoder_indexes_;</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> motor_target_currents_;</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> motor_target_torques_;</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> motor_torque_constants_;</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> target_motor_current_tmp_;</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_positions_;</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_velocities_;</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_torques_;</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_target_torques_;</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_gear_ratios_;</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_encoder_index_;</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_hardstop2zero_offsets_;</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_start2hardstop_offsets_;</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_max_torque_;</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> boom_gear_ratios_;</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> boom_encoder_index_;</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> boom_zero_positions_;</div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  Vector1d boom_length_;</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;</div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;  <span class="comment">// Vector1d height_sensors_states_;</span></div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> base_positions_;</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;</div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;  <span class="comment">// Vector1d height_sensors_states_;</span></div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> base_velocities_;</div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;</div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  <span class="comment">// Vector1d height_sensors_states_;</span></div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> boom_positions_;</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;</div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;  <span class="comment">// Vector1d height_sensors_states_;</span></div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> boom_velocities_;</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;</div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> motor_max_current_;</div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;</div><div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;  std::array&lt;CanBus_ptr, 2&gt; can_buses_;</div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  std::array&lt;CanBusMotorBoard_ptr, 2&gt; can_motor_boards_;</div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;  std::array&lt;SafeMotor_ptr, 2&gt; motors_;</div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  <span class="comment">// std::array&lt;Slider_ptr, 2&gt; sliders_;</span></div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;  std::array&lt;SafeMotor_ptr, 2&gt; boom_encoders_;</div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;</div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;  <span class="comment">// std::array&lt;ContactSensor_ptr, 1&gt; contact_sensors_;</span></div><div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;</div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;</div><div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;  <span class="comment">// std::array&lt;HeightSensor_ptr, 1&gt; height_sensors_;</span></div><div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;</div><div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;</div><div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;</div><div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;};</div><div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;</div><div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;} <span class="comment">// namespace blmc_robots</span></div><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;</div><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;<span class="preprocessor">#endif // STUGGIHOP_H</span></div><div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a8caaf3092fab4df7cb4a21c785a92caa"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a8caaf3092fab4df7cb4a21c785a92caa">blmc_robots::Stuggihop::get_motor_target_currents</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_target_currents()</div><div class="ttdoc">get_motor_target_currents </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:111</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a8be641fdc498b04a52bb721f14c449c3"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a8be641fdc498b04a52bb721f14c449c3">blmc_robots::Stuggihop::set_max_current</a></div><div class="ttdeci">void set_max_current(const Eigen::Ref&lt; Vector2d &gt; max_current)</div><div class="ttdoc">set_max_current sets the maximum current that the motor can to apply. </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:331</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_ad06f6d6a3cb3f85848fce1178bc60dd1"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#ad06f6d6a3cb3f85848fce1178bc60dd1">blmc_robots::Stuggihop::get_joint_velocities</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_velocities()</div><div class="ttdoc">get_joint_velocities </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:186</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a0669e1c16bd6698966149cebad9c43fc"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a0669e1c16bd6698966149cebad9c43fc">blmc_robots::Stuggihop::get_hardstop2zero_offsets</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_hardstop2zero_offsets()</div><div class="ttdoc">get_hardstop2zero_offsets </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:237</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a206157411d7bd41d5d599106512482ae"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a206157411d7bd41d5d599106512482ae">blmc_robots::Stuggihop::get_start2hardstop_offsets_</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_start2hardstop_offsets_()</div><div class="ttdoc">get_start2hardstop_offsets_ </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:245</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a776d704e7fd109da3095d4da03fcf12b"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a776d704e7fd109da3095d4da03fcf12b">blmc_robots::Stuggihop::get_joint_positions</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_positions()</div><div class="ttdoc">get_joint_positions </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:174</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a5f0707d8965fc98b36ca3fa42b57db5f"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a5f0707d8965fc98b36ca3fa42b57db5f">blmc_robots::Stuggihop::set_hardstop2zero_offsets</a></div><div class="ttdeci">void set_hardstop2zero_offsets(const Eigen::Ref&lt; Vector2d &gt; hardstop2zero_offsets)</div><div class="ttdoc">set_hardstop2zero_offsets </div><div class="ttdef"><b>Definition:</b> stuggihop.cpp:196</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a41fda0b6e5b070341e342291c1d0fd1d"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a41fda0b6e5b070341e342291c1d0fd1d">blmc_robots::Stuggihop::get_motor_encoder_indexes</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_encoder_indexes()</div><div class="ttdoc">get_motor_encoder_indexes </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:153</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a6da6fdecb11573e52a0c059d84e7f4c5"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a6da6fdecb11573e52a0c059d84e7f4c5">blmc_robots::Stuggihop::get_motor_currents</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_currents()</div><div class="ttdoc">get_motor_currents </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:99</div></div>
<div class="ttc" id="slider_8hpp_html"><div class="ttname"><a href="slider_8hpp.html">slider.hpp</a></div></div>
<div class="ttc" id="blmc__joint__module_8hpp_html"><div class="ttname"><a href="blmc__joint__module_8hpp.html">blmc_joint_module.hpp</a></div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a8d9d32080e9262b319f4f4ce7d85bac1"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a8d9d32080e9262b319f4f4ce7d85bac1">blmc_robots::Stuggihop::get_motor_positions</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_positions()</div><div class="ttdoc">get_motor_positions </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:75</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_ab3c118885810575b36c49432a2a5eca5"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#ab3c118885810575b36c49432a2a5eca5">blmc_robots::Stuggihop::send_target_motor_current</a></div><div class="ttdeci">void send_target_motor_current(const Eigen::Ref&lt; Vector2d &gt; target_motor_current)</div><div class="ttdoc">send_target_torques sends the target currents to the motors </div><div class="ttdef"><b>Definition:</b> stuggihop.cpp:206</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a2a272c1cb428a2a7250b23d7ca40c894"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a2a272c1cb428a2a7250b23d7ca40c894">blmc_robots::Stuggihop::initialize</a></div><div class="ttdeci">void initialize()</div><div class="ttdoc">initialize the robot by setting aligning the motors and calibrate the sensors to 0 ...</div><div class="ttdef"><b>Definition:</b> stuggihop.cpp:65</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a5a68ae4700c53672c30d373cc3b5b66c"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a5a68ae4700c53672c30d373cc3b5b66c">blmc_robots::Stuggihop::get_max_current</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_max_current()</div><div class="ttdoc">get_max_current </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:311</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_aea7781a2eb5a410ca8ab2bbfe425cb6a"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#aea7781a2eb5a410ca8ab2bbfe425cb6a">blmc_robots::Stuggihop::Stuggihop</a></div><div class="ttdeci">Stuggihop()</div><div class="ttdoc">Stuggihop is the constructor of the class. </div><div class="ttdef"><b>Definition:</b> stuggihop.cpp:6</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_accb7420eaa50dafb84c434623697a272"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#accb7420eaa50dafb84c434623697a272">blmc_robots::Stuggihop::get_motor_velocities</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_velocities()</div><div class="ttdoc">get_motor_velocities </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:87</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_aa37d49ec5e4fb52bac480aa552fc4546"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#aa37d49ec5e4fb52bac480aa552fc4546">blmc_robots::Stuggihop::get_target_motor_torques</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_target_motor_torques()</div><div class="ttdoc">get_target_motor_torques </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:132</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html">blmc_robots::Stuggihop</a></div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:19</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a4c0847fc848bab2d1ad7f76542fffb3c"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a4c0847fc848bab2d1ad7f76542fffb3c">blmc_robots::Stuggihop::get_motor_torque_constants</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_torque_constants()</div><div class="ttdoc">get_motor_torque_constants </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:162</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a4d0344d8fa31e2e959dfcb3c3f5538e9"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a4d0344d8fa31e2e959dfcb3c3f5538e9">blmc_robots::Stuggihop::get_max_joint_torque</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_max_joint_torque()</div><div class="ttdoc">get_max_torque </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:321</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_aa3c24185a4ce67f235c535e4913832d2"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#aa3c24185a4ce67f235c535e4913832d2">blmc_robots::Stuggihop::get_motor_torques</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_torques()</div><div class="ttdoc">get_motor_torques </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:123</div></div>
<div class="ttc" id="namespaceblmc__robots_html_acb6916bc8c9fe9d98c484fd4cc201447"><div class="ttname"><a href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">blmc_robots::Vector2d</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 2, 1 &gt; Vector2d</div><div class="ttdoc">Vector2d shortcut for the eigen vector of size 2. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:28</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_afc0dfd7c91f9a83126ed6644ae29ed20"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#afc0dfd7c91f9a83126ed6644ae29ed20">blmc_robots::Stuggihop::get_joint_encoder_index</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_encoder_index()</div><div class="ttdoc">get_joint_encoder_index </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:228</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_afb35c29fd6e5eb97337857fd34532a6d"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#afb35c29fd6e5eb97337857fd34532a6d">blmc_robots::Stuggihop::set_start2hardstop_offsets</a></div><div class="ttdeci">void set_start2hardstop_offsets(const Eigen::Ref&lt; Vector2d &gt; start2hardstop_offsets)</div><div class="ttdoc">set_start2hardstop_offsets </div><div class="ttdef"><b>Definition:</b> stuggihop.cpp:201</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_ae693c1a57f25426d82cece8d5066d331"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#ae693c1a57f25426d82cece8d5066d331">blmc_robots::Stuggihop::get_joint_gear_ratios</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_gear_ratios()</div><div class="ttdoc">get_joint_gear_ratios </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:216</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a2cad739e379d40ac6ccc50091ed3d456"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a2cad739e379d40ac6ccc50091ed3d456">blmc_robots::Stuggihop::get_joint_target_torques</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_target_torques()</div><div class="ttdoc">get_joint_torques </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:207</div></div>
<div class="ttc" id="common__header_8hpp_html"><div class="ttname"><a href="common__header_8hpp.html">common_header.hpp</a></div><div class="ttdoc">The hardware wrapper of the quadruped. </div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a594cb654f63c3ff8fb7718ce7d393d81"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a594cb654f63c3ff8fb7718ce7d393d81">blmc_robots::Stuggihop::acquire_sensors</a></div><div class="ttdeci">void acquire_sensors()</div><div class="ttdoc">acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...</div><div class="ttdef"><b>Definition:</b> stuggihop.cpp:109</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_acffc9bf97d4b58ad49703855a70b95cf"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#acffc9bf97d4b58ad49703855a70b95cf">blmc_robots::Stuggihop::get_motor_inertias</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_inertias()</div><div class="ttdoc">get_motor_inertias </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:141</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a977ef0340cc0cbf164f9ba492736ca18"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a977ef0340cc0cbf164f9ba492736ca18">blmc_robots::Stuggihop::get_joint_torques</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_torques()</div><div class="ttdoc">get_joint_torques </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:198</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a7f869117918d0d5d5813d29222430d88"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a7f869117918d0d5d5813d29222430d88">blmc_robots::Stuggihop::get_base_velocities</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_base_velocities()</div><div class="ttdoc">get_base_velocities </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:302</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_a6da73065d935420daf4959b8f912128c"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#a6da73065d935420daf4959b8f912128c">blmc_robots::Stuggihop::get_base_positions</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_base_positions()</div><div class="ttdoc">get_slider_positions </div><div class="ttdef"><b>Definition:</b> stuggihop.hpp:292</div></div>
<div class="ttc" id="classblmc__robots_1_1Stuggihop_html_ac8bae7764c409c8312408ea8adb1165f"><div class="ttname"><a href="classblmc__robots_1_1Stuggihop.html#ac8bae7764c409c8312408ea8adb1165f">blmc_robots::Stuggihop::send_target_joint_torque</a></div><div class="ttdeci">void send_target_joint_torque(const Eigen::Ref&lt; Vector2d &gt; target_joint_torque)</div><div class="ttdoc">send_target_torques sends the target currents to the motors </div><div class="ttdef"><b>Definition:</b> stuggihop.cpp:222</div></div>
<div class="ttc" id="namespaceblmc__robots_html"><div class="ttname"><a href="namespaceblmc__robots.html">blmc_robots</a></div><div class="ttdef"><b>Definition:</b> blmc_joint_module.cpp:15</div></div>
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